#!/usr/bin/env python
PACKAGE = "zeus_s3_driver"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("Kp",    double_t,    0, "Kp in PID", 1000.0,  0.0, 2000.0)
gen.add("Ki",    double_t,    0, "Ki in PID", 10.0,  0.0, 1000.0)
gen.add("Kd",    double_t,    0, "Kd in PID", 0.0,  0.0, 1000.0)
gen.add("Ele_curr",    int_t,    0, "electricity_current_vol", 2,  2, 3)
gen.add("Speed_l",    double_t,    0, "speed_left", 0.0,  -1.0, 1.0)
gen.add("Speed_r",    double_t,    0, "speed_right", 0.0,  -1.0, 1.0)
gen.add("bool_param",   bool_t,    0, "reset_motor",False)
gen.add("mode_param",   bool_t,    0, "Motor Mode Selection",False)


exit(gen.generate(PACKAGE, "zeus_s3_driver", "PID_reconfig"))
